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16. FULLY CLOSED LOOP SYSTEM
16 - 25
Symbol Name Explanation Unit
f) Motor side cumu. feedback
pulses (before gear)
Feedback pulses from the servo motor encoder are counted and displayed. (Servo
motor encoder unit)
When the set value exceeds 999999999, it starts with 0.
Click "Clear" to reset the value to 0.
The "-" symbol is indicated for reverse.
pulse
g) Encoder information The load-side encoder information is displayed.
The display contents differ depending on the load-side encoder type.
ID: The ID No. of the load-side encoder is displayed.
Data 1: For the incremental type linear encoder, the counter from powering on is
displayed. For the absolute position type linear encoder, the absolute position
data is displayed.
Data 2: For the incremental type linear encoder, the distance (number of pulses) from
the reference mark (Z-phase) is displayed. For the absolute position type
linear encoder, "00000000" is displayed.
h) Polarity For address increasing direction in the servo motor CCW, it is indicated as "+" and for
address decreasing direction in the servo motor CCW, as "-".
i) Z phase pass status If the fully closed loop system is "Disabled", the Z-phase pass status of the servo motor
encoder is displayed. If the fully closed loop system is "Enabled" or "Semi closed loop
control/fully closed loop control switching", the Z-phase pass status of the load-side
encoder is displayed.
j) Fully closed loop changing
device
Only if the fully closed loop system is "Semi closed loop control/fully closed loop control
switching", the device is displayed.
The state of the semi closed loop control/fully closed loop control switching signal and
the inside state during selection are displayed.
k) Parameter (Feedback pulse
electronic gear)
The feedback pulse electronic gears ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35])
are displayed/set for servo motor encoder pulses in this parameter. (Refer to section
16.3.1 (5).)
l) Parameter (Dual feedback
filter)
The band of [Pr. PE08 Fully closed loop dual feedback filter] is displayed/set in this
parameter.
m) Parameter (fully closed loop
selection)
The parameter for the fully closed loop control is displayed or set.
Click "Parameter setting" button to display the "Fully closed loop control - Basic"
window.
1)
2)
3)
4)
5)
1) Fully closed loop selection ([Pr. PE01])
"Always valid" or "Switching with the control command of controller" is selected here.
2) Feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], [Pr. PE35])
Setting of feedback pulse electronic gear
3) Load-side encoder cable communication method selection ([Pr. PC26])
4) Selection of encoder pulse count polarity ([Pr. PC27])
Polarity of the load-side encoder information is selected.
5) Selection of A/B/Z-phase input interface encoder Z-phase connection judgement
function ([Pr. PC27])
Select the non-signal detection status for the pulse train signal from the A/B/Z-phase
input interface encoder used as a linear encoder or load-side encoder.